Quote:
Originally Posted by Scout
You go on top. That way you're in control, and it's done by your measures instead of his. 
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This
It's one of the safest things you can do. If you're on top you've got a natural lump you can use and you're in control of the motion. People dry hump for a few minutes, or they do to give each other orgasms. It can be done with any amount of clothes on, in underwear, or even naked. I don't think anybody has gotten pregnant or an STD from it.